Legged　robots　possess　redundant　degrees　of　freedom　and　multiple　footholds,　making　them　highly　promising　for　applications　in　disaster　rescue,　material　transportation,　and　planet　exploration.　However,　most　previous　studies　have　focused　on　continuous　terrains,　whereas　walking　in　unstructured　terrains　such　as　plum-blossom　piles　present　higher　demands　on　robot　posture　control.　This　paper　proposes　a　quadrupedal　robot　for　gait　control　during　walking　in　plum-blossom　piles.　The　overall　control　process　of　the　method　is　presented,　followed　by　an　analysis　of　the　gait　control　of　the　quadruped　robot.　This　includes　the　use　of　a　PD　controller　to　simulate　the　spring　damping　effect,　the　stability　control　of　the　robot＇s　body　through　control　target　decomposition,　and　the　gait　control　of　individual　legs　using　Jacques＇　matrix　support　phase　control,　combined　with　trajectory　control　to　complete　the　swing　phase　of　gait　control.　Additionally,　an　acceleration　function　is　introduced　to　provide　a　buffering　effect　for　posture　adjustments　of　the　quadruped　robot.　The　proposed　approach　is　evaluated　using　Webots　simulation　software,　including　simulation　settings,　results,　and　their　interpretation.　The　results　demonstrate　the　successful　realization　of　motion　control　in　complex　terrains.　©　2023　Technical　Committee　on　Control　Theory,　Chinese　Association　of　Automation.